@pibbl/core 0.0.1 → 0.0.3-alpha.109.1

package/dist/features/physics/lib/2d/shapes.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../../../../src/features/physics/lib/2d/shapes.ts"],
-  "sourcesContent": ["import type {\n  PibblPhysicsAabb2D,\n  PibblPhysicsMassProperties2D,\n  PibblPhysicsPose2D,\n  PibblPhysicsShape2D,\n  PibblPhysicsTransform2D,\n  PibblPhysicsVector2,\n} from '../../2d-geometry.js';\nimport {\n  copyFiniteVector2,\n  requireFiniteNumber,\n  requireNonnegativeNumber,\n  requirePositiveNumber,\n} from '../shared/validation.js';\nimport {\n  CURVE_FLATTENING_MAX_DEPTH,\n  CURVE_FLATTENING_TOLERANCE,\n  IDENTITY_POSE_2D,\n  canonicalizeContour2D,\n  cleanZero,\n  composePose2D,\n  copyPose2D,\n  freezeBounds2D,\n  polygonMassData2D,\n  transformPointInto,\n  triangulateContour2D,\n  type InternalPose2D,\n} from './math.js';\nimport { DEGREES_TO_RADIANS, GEOMETRY_EPSILON } from './numeric-policy.js';\nimport {\n  createShape2D,\n  requireShapeRecord2D,\n  type CapsuleLeaf2D,\n  type ConvexLeaf2D,\n  type PolygonLeaf2D,\n} from './shape-records.js';\n\nconst FULL_TURN_RADIANS = Math.PI * 2;\n\n/**\n * Creates an immutable circle collision shape without initializing a physics world.\n *\n * @param input - Circle radius and optional center. See {@link PibblPhysicsVector2}.\n * @returns An immutable circle collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function circleShape2D(\n  input: Readonly<{ radius: number; center?: PibblPhysicsVector2 }>,\n): PibblPhysicsShape2D {\n  const radius = requirePositiveNumber(input.radius, 'circle.radius');\n  const center = ownedVector(input.center ?? [0, 0], 'circle.center');\n  const area = Math.PI * radius * radius;\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'circle', center, radius, canonicalLeafIndex: 0 })],\n    area,\n    center[0]!,\n    center[1]!,\n    area * radius * radius / 2,\n  );\n}\n\n/**\n * Creates an immutable ellipse collision shape without initializing a physics world.\n *\n * @param input - Ellipse radii, optional center, and rotation in degrees. See\n * {@link PibblPhysicsVector2} .\n * @returns An immutable ellipse collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function ellipseShape2D(\n  input: Readonly<{\n    radiusX: number;\n    radiusY: number;\n    center?: PibblPhysicsVector2;\n    rotationDegrees?: number;\n  }>,\n): PibblPhysicsShape2D {\n  const radiusX = requirePositiveNumber(input.radiusX, 'ellipse.radiusX');\n  const radiusY = requirePositiveNumber(input.radiusY, 'ellipse.radiusY');\n  const center = ownedVector(input.center ?? [0, 0], 'ellipse.center');\n  const rotationRadians =\n    requireFiniteNumber(input.rotationDegrees ?? 0, 'ellipse.rotationDegrees') *\n    DEGREES_TO_RADIANS;\n  const area = Math.PI * radiusX * radiusY;\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'ellipse', center, radiusX, radiusY, rotationRadians, canonicalLeafIndex: 0 })],\n    area,\n    center[0]!,\n    center[1]!,\n    area * (radiusX * radiusX + radiusY * radiusY) / 4,\n  );\n}\n\n/**\n * Creates an immutable box collision shape without initializing a physics world.\n *\n * @param input - Box width, height, and optional center. See {@link PibblPhysicsVector2}.\n * @returns An immutable box collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function boxShape2D(\n  input: Readonly<{\n    width: number;\n    height: number;\n    center?: PibblPhysicsVector2;\n  }>,\n): PibblPhysicsShape2D {\n  const width = requirePositiveNumber(input.width, 'box.width');\n  const height = requirePositiveNumber(input.height, 'box.height');\n  const center = ownedVector(input.center ?? [0, 0], 'box.center');\n  const area = width * height;\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'box', center, halfWidth: width / 2, halfHeight: height / 2, canonicalLeafIndex: 0 })],\n    area,\n    center[0]!,\n    center[1]!,\n    area * (width * width + height * height) / 12,\n  );\n}\n\n/**\n * Creates an immutable rounded box collision shape without initializing a physics world.\n *\n * @param input - Box dimensions, center, and uniform or per-corner radii. See\n * {@link PibblPhysicsVector2} .\n * @returns An immutable rounded-box collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function roundedBoxShape2D(\n  input: Readonly<{\n    width: number;\n    height: number;\n    radius:\n      | number\n      | readonly [\n          topLeft: number,\n          topRight: number,\n          bottomRight: number,\n          bottomLeft: number,\n        ];\n    center?: PibblPhysicsVector2;\n  }>,\n): PibblPhysicsShape2D {\n  const width = requirePositiveNumber(input.width, 'roundedBox.width');\n  const height = requirePositiveNumber(input.height, 'roundedBox.height');\n  const center = ownedVector(input.center ?? [0, 0], 'roundedBox.center');\n  const sourceRadii = typeof input.radius === 'number'\n    ? [input.radius, input.radius, input.radius, input.radius] as const\n    : input.radius;\n  const radii = new Float64Array(4);\n  const maximum = Math.min(width, height) / 2;\n  for (let index = 0; index < radii.length; index += 1) {\n    const radius = requireNonnegativeNumber(\n      sourceRadii[index]!,\n      `roundedBox.radius[${index}]`,\n    );\n    if (radius > maximum) {\n      throw new RangeError(\n        `roundedBox.radius[${index}] must not exceed ${String(maximum)}; received ${String(radius)}.`,\n      );\n    }\n    radii[index] = radius;\n  }\n  const contour = roundedBoxContour(width / 2, height / 2, radii, center);\n  const mass = polygonMassData2D(contour);\n  return createShapeFromLeaves(\n    [Object.freeze({\n      kind: 'rounded-box',\n      center,\n      halfWidth: width / 2,\n      halfHeight: height / 2,\n      radii,\n      canonicalLeafIndex: 0,\n    })],\n    mass.area,\n    mass.centroidX,\n    mass.centroidY,\n    mass.unitInertia,\n  );\n}\n\n/**\n * Creates an immutable capsule collision shape without initializing a physics world.\n *\n * @param input - Capsule centerline endpoints and radius. See {@link PibblPhysicsVector2}.\n * @returns An immutable capsule collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function capsuleShape2D(\n  input: Readonly<{\n    start: PibblPhysicsVector2;\n    end: PibblPhysicsVector2;\n    radius: number;\n  }>,\n): PibblPhysicsShape2D {\n  const start = ownedVector(input.start, 'capsule.start');\n  const end = ownedVector(input.end, 'capsule.end');\n  const radius = requirePositiveNumber(input.radius, 'capsule.radius');\n  const leaf: CapsuleLeaf2D = Object.freeze({\n    kind: 'capsule', start, end, radius, canonicalLeafIndex: 0,\n  });\n  const mass = capsuleMassData(start, end, radius);\n  return createShapeFromLeaves(\n    [leaf],\n    mass.area,\n    mass.centroidX,\n    mass.centroidY,\n    mass.unitInertia,\n  );\n}\n\n/**\n * Creates an immutable arc collision shape without initializing a physics world.\n *\n * @param input - Arc center, radius, angular endpoints in radians, sweep direction, and thickness.\n * See {@link PibblPhysicsVector2} .\n * @returns An immutable thick-arc collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function arcShape2D(\n  input: Readonly<{\n    center?: PibblPhysicsVector2;\n    radius: number;\n    startAngleRadians: number;\n    endAngleRadians: number;\n    counterclockwise?: boolean;\n    thickness: number;\n  }>,\n): PibblPhysicsShape2D {\n  const center = ownedVector(input.center ?? [0, 0], 'arc.center');\n  const radius = requirePositiveNumber(input.radius, 'arc.radius');\n  const startAngle = requireFiniteNumber(input.startAngleRadians, 'arc.startAngleRadians');\n  const endAngle = requireFiniteNumber(input.endAngleRadians, 'arc.endAngleRadians');\n  const thickness = requirePositiveNumber(input.thickness, 'arc.thickness');\n  const points = flattenCircularSweep(\n    center[0]!, center[1]!, radius, startAngle, endAngle, input.counterclockwise === true,\n  );\n  return chainFromOwnedPoints(points, false, thickness / 2);\n}\n\n/**\n * Creates an immutable wedge collision shape without initializing a physics world.\n *\n * @param input - Wedge center, radius, angular endpoints in radians, and sweep direction. See\n * {@link PibblPhysicsVector2} .\n * @returns An immutable wedge collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function wedgeShape2D(\n  input: Readonly<{\n    center?: PibblPhysicsVector2;\n    radius: number;\n    startAngleRadians: number;\n    endAngleRadians: number;\n    counterclockwise?: boolean;\n  }>,\n): PibblPhysicsShape2D {\n  const center = ownedVector(input.center ?? [0, 0], 'wedge.center');\n  const radius = requirePositiveNumber(input.radius, 'wedge.radius');\n  const startAngle = requireFiniteNumber(input.startAngleRadians, 'wedge.startAngleRadians');\n  const endAngle = requireFiniteNumber(input.endAngleRadians, 'wedge.endAngleRadians');\n  const points = flattenCircularSweep(\n    center[0]!, center[1]!, radius, startAngle, endAngle, input.counterclockwise === true,\n  );\n  const sweep = directedSweep(startAngle, endAngle, input.counterclockwise === true);\n  if (Math.abs(sweep) <= GEOMETRY_EPSILON) {\n    throw new RangeError('wedge angles must describe a nonzero sweep.');\n  }\n  const contourSource: PibblPhysicsVector2[] = Math.abs(sweep) >= FULL_TURN_RADIANS\n    ? points.slice(0, -1).map(asReadonlyVector)\n    : [asReadonlyVector(center), ...points.map(asReadonlyVector)];\n  const contour = canonicalizeContour2D(contourSource, {\n    strictlyConvex: false,\n    path: 'wedge.contour',\n  });\n  const triangles = triangulateContour2D(contour);\n  const leaves = triangles.map<PolygonLeaf2D>((vertices, canonicalLeafIndex) =>\n    Object.freeze({ kind: 'polygon', vertices, canonicalLeafIndex }),\n  );\n  const mass = aggregateLeafMass(leaves);\n  return createShapeFromLeaves(\n    leaves,\n    mass.area,\n    mass.centroidX,\n    mass.centroidY,\n    mass.unitInertia,\n  );\n}\n\n/**\n * Creates an immutable segment collision shape without initializing a physics world.\n *\n * @param input - Segment endpoints. See {@link PibblPhysicsVector2}.\n * @returns An immutable line-segment collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function segmentShape2D(\n  input: Readonly<{ start: PibblPhysicsVector2; end: PibblPhysicsVector2 }>,\n): PibblPhysicsShape2D {\n  const start = ownedVector(input.start, 'segment.start');\n  const end = ownedVector(input.end, 'segment.end');\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'segment', start, end, canonicalLeafIndex: 0 })],\n    0,\n    (start[0]! + end[0]!) / 2,\n    (start[1]! + end[1]!) / 2,\n    0,\n  );\n}\n\n/**\n * Creates an immutable chain collision shape without initializing a physics world.\n *\n * @param input - Ordered chain points, closure policy, and optional radius. See\n * {@link PibblPhysicsVector2} .\n * @returns An immutable chain collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function chainShape2D(\n  input: Readonly<{\n    points: readonly PibblPhysicsVector2[];\n    closed?: boolean;\n    radius?: number;\n  }>,\n): PibblPhysicsShape2D {\n  if (input.points.length < 2) {\n    throw new RangeError('chain.points must contain at least two points.');\n  }\n  const points = input.points.map((point, index) =>\n    ownedVector(point, `chain.points[${index}]`),\n  );\n  const radius = requireNonnegativeNumber(input.radius ?? 0, 'chain.radius');\n  return chainFromOwnedPoints(points, input.closed === true, radius);\n}\n\n/**\n * Creates an immutable polygon collision shape without initializing a physics world.\n *\n * @param input - Ordered polygon vertices. See {@link PibblPhysicsVector2}.\n * @returns An immutable polygon collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function polygonShape2D(\n  input: Readonly<{ points: readonly PibblPhysicsVector2[] }>,\n): PibblPhysicsShape2D {\n  const vertices = canonicalizeContour2D(input.points, {\n    strictlyConvex: true,\n    path: 'polygon.points',\n  });\n  const mass = polygonMassData2D(vertices);\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'polygon', vertices, canonicalLeafIndex: 0 })],\n    mass.area,\n    mass.centroidX,\n    mass.centroidY,\n    mass.unitInertia,\n  );\n}\n\n/**\n * Computes axis-aligned bounds for an immutable shape at an optional pose.\n *\n * @param shape - Shape whose bounds are needed. See {@link PibblPhysicsShape2D}.\n * @param pose - Optional pose at which to evaluate the shape. See {@link PibblPhysicsPose2D}.\n * @returns Axis-aligned bounds of the posed shape. See {@link PibblPhysicsAabb2D}.\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsPose2D}\n * @see {@link PibblPhysicsAabb2D}\n */\nexport function boundsOfShape2D(\n  shape: PibblPhysicsShape2D,\n  pose?: PibblPhysicsPose2D,\n): PibblPhysicsAabb2D {\n  const record = requireShapeRecord2D(shape);\n  const outerPose = copyPose2D(pose, 'pose');\n  return boundsForLeaves(record.leaves, composePose2D(outerPose, record.localPose));\n}\n\n/**\n * Computes shape area, centroid, mass, and rotational inertia at the requested density.\n *\n * @param shape - Shape whose mass properties are needed. See {@link PibblPhysicsShape2D}.\n * @param options - Optional material density.\n * @returns Mass, center of mass, and inertia for the shape. See {@link PibblPhysicsMassProperties2D}\n * .\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsMassProperties2D}\n */\nexport function massProperties2D(\n  shape: PibblPhysicsShape2D,\n  options?: Readonly<{ density?: number }>,\n): PibblPhysicsMassProperties2D {\n  const record = requireShapeRecord2D(shape);\n  const density = requirePositiveNumber(options?.density ?? 1, 'options.density');\n  const transformedCentroid = new Float64Array(2);\n  transformPointInto(\n    transformedCentroid,\n    0,\n    record.centroidX,\n    record.centroidY,\n    record.localPose,\n  );\n  return Object.freeze({\n    area: cleanZero(record.area),\n    centroid: Object.freeze([\n      cleanZero(transformedCentroid[0]!),\n      cleanZero(transformedCentroid[1]!),\n    ] as const),\n    mass: cleanZero(record.area * density),\n    rotationalInertia: cleanZero(record.unitInertia * density),\n  });\n}\n\n/**\n * Returns independent shape geometry transformed by a rigid 2D pose.\n *\n * @param shape - Source shape; it is not modified. See {@link PibblPhysicsShape2D}.\n * @param transform - Transform to apply to the shape. See {@link PibblPhysicsTransform2D}.\n * @returns A shape containing the transformed geometry. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsTransform2D}\n */\nexport function transformShape2D(\n  shape: PibblPhysicsShape2D,\n  transform: PibblPhysicsTransform2D,\n): PibblPhysicsShape2D {\n  const source = requireShapeRecord2D(shape);\n  const localPose = composePose2D(copyPose2D(transform, 'transform'), source.localPose);\n  const localBounds = mutableBoundsForLeaves(source.leaves, localPose);\n  return createShape2D({\n    leaves: source.leaves,\n    localPose,\n    localBounds,\n    area: source.area,\n    centroidX: source.centroidX,\n    centroidY: source.centroidY,\n    unitInertia: source.unitInertia,\n  });\n}\n\nfunction createShapeFromLeaves(\n  leaves: readonly ConvexLeaf2D[],\n  area: number,\n  centroidX: number,\n  centroidY: number,\n  unitInertia: number,\n): PibblPhysicsShape2D {\n  return createShape2D({\n    leaves,\n    localBounds: mutableBoundsForLeaves(leaves, IDENTITY_POSE_2D),\n    area,\n    centroidX,\n    centroidY,\n    unitInertia: Math.max(0, unitInertia),\n  });\n}\n\nfunction chainFromOwnedPoints(\n  points: readonly Float64Array[],\n  closed: boolean,\n  radius: number,\n): PibblPhysicsShape2D {\n  const segmentCount = points.length === 1 ? 0 : points.length - 1 + (closed ? 1 : 0);\n  const leaves: ConvexLeaf2D[] = [];\n  for (let index = 0; index < segmentCount; index += 1) {\n    const start = points[index]!;\n    const end = points[(index + 1) % points.length]!;\n    leaves.push(Object.freeze(radius === 0\n      ? { kind: 'segment', start, end, canonicalLeafIndex: index }\n      : { kind: 'capsule', start, end, radius, canonicalLeafIndex: index }));\n  }\n  if (leaves.length === 0) {\n    const point = points[0]!;\n    const area = Math.PI * radius * radius;\n    leaves.push(Object.freeze({\n      kind: 'circle', center: point, radius, canonicalLeafIndex: 0,\n    }));\n    return createShapeFromLeaves(\n      leaves,\n      area,\n      point[0]!,\n      point[1]!,\n      area * radius * radius / 2,\n    );\n  }\n  if (radius > 0) {\n    const mass = aggregateLeafMass(leaves);\n    return createShapeFromLeaves(\n      leaves,\n      mass.area,\n      mass.centroidX,\n      mass.centroidY,\n      mass.unitInertia,\n    );\n  }\n  const centroid = lineCentroid(points, closed);\n  return createShapeFromLeaves(leaves, 0, centroid[0], centroid[1], 0);\n}\n\nfunction boundsForLeaves(\n  leaves: readonly ConvexLeaf2D[],\n  pose: InternalPose2D,\n): PibblPhysicsAabb2D {\n  const bounds = mutableBoundsForLeaves(leaves, pose);\n  return freezeBounds2D(bounds[0]!, bounds[1]!, bounds[2]!, bounds[3]!);\n}\n\nfunction mutableBoundsForLeaves(\n  leaves: readonly ConvexLeaf2D[],\n  pose: InternalPose2D,\n): Float64Array {\n  const result = new Float64Array([\n    Number.POSITIVE_INFINITY,\n    Number.POSITIVE_INFINITY,\n    Number.NEGATIVE_INFINITY,\n    Number.NEGATIVE_INFINITY,\n  ]);\n  const point = new Float64Array(2);\n  const include = (x: number, y: number, radius = 0): void => {\n    transformPointInto(point, 0, x, y, pose);\n    result[0] = Math.min(result[0]!, point[0]! - radius);\n    result[1] = Math.min(result[1]!, point[1]! - radius);\n    result[2] = Math.max(result[2]!, point[0]! + radius);\n    result[3] = Math.max(result[3]!, point[1]! + radius);\n  };\n  for (const leaf of leaves) {\n    switch (leaf.kind) {\n      case 'circle':\n        include(leaf.center[0]!, leaf.center[1]!, leaf.radius);\n        break;\n      case 'ellipse': {\n        transformPointInto(point, 0, leaf.center[0]!, leaf.center[1]!, pose);\n        const angle = pose.rotationRadians + leaf.rotationRadians;\n        const cosine = Math.cos(angle);\n        const sine = Math.sin(angle);\n        const extentX = Math.hypot(leaf.radiusX * cosine, leaf.radiusY * sine);\n        const extentY = Math.hypot(leaf.radiusX * sine, leaf.radiusY * cosine);\n        result[0] = Math.min(result[0]!, point[0]! - extentX);\n        result[1] = Math.min(result[1]!, point[1]! - extentY);\n        result[2] = Math.max(result[2]!, point[0]! + extentX);\n        result[3] = Math.max(result[3]!, point[1]! + extentY);\n        break;\n      }\n      case 'box':\n        includeBoxCorners(leaf.center, leaf.halfWidth, leaf.halfHeight, pose, result, point);\n        break;\n      case 'rounded-box':\n        includeRoundedBoxBounds(leaf, pose, result, point);\n        break;\n      case 'capsule':\n        include(leaf.start[0]!, leaf.start[1]!, leaf.radius);\n        include(leaf.end[0]!, leaf.end[1]!, leaf.radius);\n        break;\n      case 'segment':\n        include(leaf.start[0]!, leaf.start[1]!);\n        include(leaf.end[0]!, leaf.end[1]!);\n        break;\n      case 'polygon':\n        for (let offset = 0; offset < leaf.vertices.length; offset += 2) {\n          include(leaf.vertices[offset]!, leaf.vertices[offset + 1]!);\n        }\n        break;\n    }\n  }\n  return result;\n}\n\nfunction includeBoxCorners(\n  center: Float64Array,\n  halfWidth: number,\n  halfHeight: number,\n  pose: InternalPose2D,\n  bounds: Float64Array,\n  point: Float64Array,\n): void {\n  for (const xSign of [-1, 1]) {\n    for (const ySign of [-1, 1]) {\n      transformPointInto(\n        point,\n        0,\n        center[0]! + xSign * halfWidth,\n        center[1]! + ySign * halfHeight,\n        pose,\n      );\n      bounds[0] = Math.min(bounds[0]!, point[0]!);\n      bounds[1] = Math.min(bounds[1]!, point[1]!);\n      bounds[2] = Math.max(bounds[2]!, point[0]!);\n      bounds[3] = Math.max(bounds[3]!, point[1]!);\n    }\n  }\n}\n\nfunction includeRoundedBoxBounds(\n  leaf: Extract<ConvexLeaf2D, { kind: 'rounded-box' }>,\n  pose: InternalPose2D,\n  bounds: Float64Array,\n  point: Float64Array,\n): void {\n  const xSigns = [-1, 1, 1, -1] as const;\n  const ySigns = [-1, -1, 1, 1] as const;\n  for (let index = 0; index < 4; index += 1) {\n    const radius = leaf.radii[index]!;\n    transformPointInto(\n      point,\n      0,\n      leaf.center[0]! + xSigns[index]! * (leaf.halfWidth - radius),\n      leaf.center[1]! + ySigns[index]! * (leaf.halfHeight - radius),\n      pose,\n    );\n    bounds[0] = Math.min(bounds[0]!, point[0]! - radius);\n    bounds[1] = Math.min(bounds[1]!, point[1]! - radius);\n    bounds[2] = Math.max(bounds[2]!, point[0]! + radius);\n    bounds[3] = Math.max(bounds[3]!, point[1]! + radius);\n  }\n}\n\nfunction aggregateLeafMass(leaves: readonly ConvexLeaf2D[]): Readonly<{\n  area: number;\n  centroidX: number;\n  centroidY: number;\n  unitInertia: number;\n}> {\n  const entries = leaves.map(leafMassData);\n  const area = entries.reduce((sum, entry) => sum + entry.area, 0);\n  if (area === 0) {\n    return Object.freeze({ area: 0, centroidX: 0, centroidY: 0, unitInertia: 0 });\n  }\n  const centroidX = entries.reduce((sum, entry) => sum + entry.area * entry.centroidX, 0) / area;\n  const centroidY = entries.reduce((sum, entry) => sum + entry.area * entry.centroidY, 0) / area;\n  const unitInertia = entries.reduce((sum, entry) => {\n    const dx = entry.centroidX - centroidX;\n    const dy = entry.centroidY - centroidY;\n    return sum + entry.unitInertia + entry.area * (dx * dx + dy * dy);\n  }, 0);\n  return Object.freeze({ area, centroidX, centroidY, unitInertia });\n}\n\nfunction leafMassData(leaf: ConvexLeaf2D): Readonly<{\n  area: number;\n  centroidX: number;\n  centroidY: number;\n  unitInertia: number;\n}> {\n  switch (leaf.kind) {\n    case 'circle': {\n      const area = Math.PI * leaf.radius * leaf.radius;\n      return { area, centroidX: leaf.center[0]!, centroidY: leaf.center[1]!, unitInertia: area * leaf.radius * leaf.radius / 2 };\n    }\n    case 'ellipse': {\n      const area = Math.PI * leaf.radiusX * leaf.radiusY;\n      return { area, centroidX: leaf.center[0]!, centroidY: leaf.center[1]!, unitInertia: area * (leaf.radiusX * leaf.radiusX + leaf.radiusY * leaf.radiusY) / 4 };\n    }\n    case 'box': {\n      const width = leaf.halfWidth * 2;\n      const height = leaf.halfHeight * 2;\n      const area = width * height;\n      return { area, centroidX: leaf.center[0]!, centroidY: leaf.center[1]!, unitInertia: area * (width * width + height * height) / 12 };\n    }\n    case 'capsule':\n      return capsuleMassData(leaf.start, leaf.end, leaf.radius);\n    case 'polygon':\n      return polygonMassData2D(leaf.vertices);\n    case 'segment':\n      return { area: 0, centroidX: (leaf.start[0]! 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[new Float64Array([center[0]! + x, center[1]! + y])]\n      : flattenCircularSweep(center[0]! + x, center[1]! + y, radius, start, end, false);\n    points.push(...cornerPoints);\n  }\n  return canonicalizeContour2D(points.map(asReadonlyVector), {\n    strictlyConvex: false,\n    path: 'roundedBox.contour',\n  });\n}\n\nfunction flattenCircularSweep(\n  centerX: number,\n  centerY: number,\n  radius: number,\n  startAngle: number,\n  endAngle: number,\n  counterclockwise: boolean,\n): Float64Array[] {\n  const sweep = directedSweep(startAngle, endAngle, counterclockwise);\n  const points = [pointOnCircle(centerX, centerY, radius, startAngle)];\n  appendFlattenedArc(points, centerX, centerY, radius, startAngle, startAngle + sweep, 0);\n  if (Math.abs(sweep) >= FULL_TURN_RADIANS) {\n    points[points.length - 1] = new Float64Array(points[0]!);\n  }\n  return points;\n}\n\nfunction appendFlattenedArc(\n  output: Float64Array[],\n  centerX: number,\n  centerY: number,\n  radius: number,\n  startAngle: number,\n  endAngle: number,\n  depth: number,\n): void {\n  const middleAngle = (startAngle + endAngle) / 2;\n  const halfSweep = Math.abs(endAngle - startAngle) / 2;\n  const chordError = radius * (1 - Math.cos(halfSweep));\n  if (\n    chordError <= CURVE_FLATTENING_TOLERANCE ||\n    depth >= CURVE_FLATTENING_MAX_DEPTH\n  ) {\n    output.push(pointOnCircle(centerX, centerY, radius, endAngle));\n    return;\n  }\n  appendFlattenedArc(output, centerX, centerY, radius, startAngle, middleAngle, depth + 1);\n  appendFlattenedArc(output, centerX, centerY, radius, middleAngle, endAngle, depth + 1);\n}\n\nfunction directedSweep(\n  startAngle: number,\n  endAngle: number,\n  counterclockwise: boolean,\n): number {\n  const raw = endAngle - startAngle;\n  if (Math.abs(raw) >= FULL_TURN_RADIANS) {\n    return counterclockwise ? -FULL_TURN_RADIANS : FULL_TURN_RADIANS;\n  }\n  if (counterclockwise) {\n    const magnitude = ((-raw % FULL_TURN_RADIANS) + FULL_TURN_RADIANS) % FULL_TURN_RADIANS;\n    return -magnitude;\n  }\n  return ((raw % FULL_TURN_RADIANS) + FULL_TURN_RADIANS) % FULL_TURN_RADIANS;\n}\n\nfunction pointOnCircle(\n  centerX: number,\n  centerY: number,\n  radius: number,\n  angle: number,\n): Float64Array {\n  return new Float64Array([\n    centerX + radius * Math.cos(angle),\n    centerY + radius * Math.sin(angle),\n  ]);\n}\n\nfunction ownedVector(value: PibblPhysicsVector2, path: string): Float64Array {\n  const copied = copyFiniteVector2(value, path);\n  return new Float64Array(copied);\n}\n\nfunction asReadonlyVector(value: Float64Array): PibblPhysicsVector2 {\n  return [value[0]!, value[1]!] as const;\n}\n"],
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+  "sourcesContent": ["import type {\n  PibblPhysicsAabb2D,\n  PibblPhysicsMassProperties2D,\n  PibblPhysicsPose2D,\n  PibblPhysicsShape2D,\n  PibblPhysicsTransform2D,\n  PibblPhysicsVector2,\n} from '../../2d-geometry.js';\nimport {\n  copyFiniteVector2,\n  requireFiniteNumber,\n  requireNonnegativeNumber,\n  requirePositiveNumber,\n} from '../shared/validation.js';\nimport {\n  CURVE_FLATTENING_MAX_DEPTH,\n  CURVE_FLATTENING_TOLERANCE,\n  IDENTITY_POSE_2D,\n  canonicalizeContour2D,\n  cleanZero,\n  composePose2D,\n  copyPose2D,\n  freezeBounds2D,\n  polygonMassData2D,\n  transformPointInto,\n  triangulateContour2D,\n  type InternalPose2D,\n} from './math.js';\nimport { DEGREES_TO_RADIANS, GEOMETRY_EPSILON } from './numeric-policy.js';\nimport {\n  createShape2D,\n  requireShapeRecord2D,\n  type CapsuleLeaf2D,\n  type ConvexLeaf2D,\n  type PolygonLeaf2D,\n} from './shape-records.js';\n\nconst FULL_TURN_RADIANS = Math.PI * 2;\n\n/**\n * Creates an immutable circle collision shape without initializing a physics world.\n *\n * @param input - Circle radius and optional center. See {@link PibblPhysicsVector2}.\n * @returns An immutable circle collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function circleShape2D(\n  input: Readonly<{ radius: number; center?: PibblPhysicsVector2 }>,\n): PibblPhysicsShape2D {\n  const radius = requirePositiveNumber(input.radius, 'circle.radius');\n  const center = ownedVector(input.center ?? [0, 0], 'circle.center');\n  const area = Math.PI * radius * radius;\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'circle', center, radius, canonicalLeafIndex: 0 })],\n    area,\n    center[0]!,\n    center[1]!,\n    area * radius * radius / 2,\n  );\n}\n\n/**\n * Creates an immutable ellipse collision shape without initializing a physics world.\n *\n * @param input - Ellipse radii, optional center, and rotation in degrees. See\n * {@link PibblPhysicsVector2} .\n * @returns An immutable ellipse collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function ellipseShape2D(\n  input: Readonly<{\n    radiusX: number;\n    radiusY: number;\n    center?: PibblPhysicsVector2;\n    rotationDegrees?: number;\n  }>,\n): PibblPhysicsShape2D {\n  const radiusX = requirePositiveNumber(input.radiusX, 'ellipse.radiusX');\n  const radiusY = requirePositiveNumber(input.radiusY, 'ellipse.radiusY');\n  const center = ownedVector(input.center ?? [0, 0], 'ellipse.center');\n  const rotationRadians =\n    requireFiniteNumber(input.rotationDegrees ?? 0, 'ellipse.rotationDegrees') *\n    DEGREES_TO_RADIANS;\n  const area = Math.PI * radiusX * radiusY;\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'ellipse', center, radiusX, radiusY, rotationRadians, canonicalLeafIndex: 0 })],\n    area,\n    center[0]!,\n    center[1]!,\n    area * (radiusX * radiusX + radiusY * radiusY) / 4,\n  );\n}\n\n/**\n * Creates an immutable box collision shape without initializing a physics world.\n *\n * @param input - Box width, height, and optional center. See {@link PibblPhysicsVector2}.\n * @returns An immutable box collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function boxShape2D(\n  input: Readonly<{\n    width: number;\n    height: number;\n    center?: PibblPhysicsVector2;\n  }>,\n): PibblPhysicsShape2D {\n  const width = requirePositiveNumber(input.width, 'box.width');\n  const height = requirePositiveNumber(input.height, 'box.height');\n  const center = ownedVector(input.center ?? [0, 0], 'box.center');\n  const area = width * height;\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'box', center, halfWidth: width / 2, halfHeight: height / 2, canonicalLeafIndex: 0 })],\n    area,\n    center[0]!,\n    center[1]!,\n    area * (width * width + height * height) / 12,\n  );\n}\n\n/**\n * Creates an immutable rounded box collision shape without initializing a physics world.\n *\n * @param input - Box dimensions, center, and uniform or per-corner radii. See\n * {@link PibblPhysicsVector2} .\n * @returns An immutable rounded-box collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function roundedBoxShape2D(\n  input: Readonly<{\n    width: number;\n    height: number;\n    radius:\n      | number\n      | readonly [\n          topLeft: number,\n          topRight: number,\n          bottomRight: number,\n          bottomLeft: number,\n        ];\n    center?: PibblPhysicsVector2;\n  }>,\n): PibblPhysicsShape2D {\n  const width = requirePositiveNumber(input.width, 'roundedBox.width');\n  const height = requirePositiveNumber(input.height, 'roundedBox.height');\n  const center = ownedVector(input.center ?? [0, 0], 'roundedBox.center');\n  const sourceRadii = typeof input.radius === 'number'\n    ? [input.radius, input.radius, input.radius, input.radius] as const\n    : input.radius;\n  const radii = new Float64Array(4);\n  const maximum = Math.min(width, height) / 2;\n  for (let index = 0; index < radii.length; index += 1) {\n    const radius = requireNonnegativeNumber(\n      sourceRadii[index]!,\n      `roundedBox.radius[${index}]`,\n    );\n    if (radius > maximum) {\n      throw new RangeError(\n        `roundedBox.radius[${index}] must not exceed ${String(maximum)}; received ${String(radius)}.`,\n      );\n    }\n    radii[index] = radius;\n  }\n  const contour = roundedBoxContour(width / 2, height / 2, radii, center);\n  const mass = polygonMassData2D(contour);\n  return createShapeFromLeaves(\n    [Object.freeze({\n      kind: 'rounded-box',\n      center,\n      halfWidth: width / 2,\n      halfHeight: height / 2,\n      radii,\n      canonicalLeafIndex: 0,\n    })],\n    mass.area,\n    mass.centroidX,\n    mass.centroidY,\n    mass.unitInertia,\n  );\n}\n\n/**\n * Creates an immutable capsule collision shape without initializing a physics world.\n *\n * @param input - Capsule centerline endpoints and radius. See {@link PibblPhysicsVector2}.\n * @returns An immutable capsule collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function capsuleShape2D(\n  input: Readonly<{\n    start: PibblPhysicsVector2;\n    end: PibblPhysicsVector2;\n    radius: number;\n  }>,\n): PibblPhysicsShape2D {\n  const start = ownedVector(input.start, 'capsule.start');\n  const end = ownedVector(input.end, 'capsule.end');\n  const radius = requirePositiveNumber(input.radius, 'capsule.radius');\n  const leaf: CapsuleLeaf2D = Object.freeze({\n    kind: 'capsule', start, end, radius, canonicalLeafIndex: 0,\n  });\n  const mass = capsuleMassData(start, end, radius);\n  return createShapeFromLeaves(\n    [leaf],\n    mass.area,\n    mass.centroidX,\n    mass.centroidY,\n    mass.unitInertia,\n  );\n}\n\n/**\n * Creates an immutable arc collision shape without initializing a physics world.\n *\n * @param input - Arc center, radius, angular endpoints in radians, sweep direction, and thickness.\n * See {@link PibblPhysicsVector2} .\n * @returns An immutable thick-arc collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function arcShape2D(\n  input: Readonly<{\n    center?: PibblPhysicsVector2;\n    radius: number;\n    startAngleRadians: number;\n    endAngleRadians: number;\n    counterclockwise?: boolean;\n    thickness: number;\n  }>,\n): PibblPhysicsShape2D {\n  const center = ownedVector(input.center ?? [0, 0], 'arc.center');\n  const radius = requirePositiveNumber(input.radius, 'arc.radius');\n  const startAngle = requireFiniteNumber(input.startAngleRadians, 'arc.startAngleRadians');\n  const endAngle = requireFiniteNumber(input.endAngleRadians, 'arc.endAngleRadians');\n  const thickness = requirePositiveNumber(input.thickness, 'arc.thickness');\n  const points = flattenCircularSweep(\n    center[0]!, center[1]!, radius, startAngle, endAngle, input.counterclockwise === true,\n  );\n  return chainFromOwnedPoints(points, false, thickness / 2);\n}\n\n/**\n * Creates an immutable wedge collision shape without initializing a physics world.\n *\n * @param input - Wedge center, radius, angular endpoints in radians, and sweep direction. See\n * {@link PibblPhysicsVector2} .\n * @returns An immutable wedge collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function wedgeShape2D(\n  input: Readonly<{\n    center?: PibblPhysicsVector2;\n    radius: number;\n    startAngleRadians: number;\n    endAngleRadians: number;\n    counterclockwise?: boolean;\n  }>,\n): PibblPhysicsShape2D {\n  const center = ownedVector(input.center ?? [0, 0], 'wedge.center');\n  const radius = requirePositiveNumber(input.radius, 'wedge.radius');\n  const startAngle = requireFiniteNumber(input.startAngleRadians, 'wedge.startAngleRadians');\n  const endAngle = requireFiniteNumber(input.endAngleRadians, 'wedge.endAngleRadians');\n  const points = flattenCircularSweep(\n    center[0]!, center[1]!, radius, startAngle, endAngle, input.counterclockwise === true,\n  );\n  const sweep = directedSweep(startAngle, endAngle, input.counterclockwise === true);\n  if (Math.abs(sweep) <= GEOMETRY_EPSILON) {\n    throw new RangeError('wedge angles must describe a nonzero sweep.');\n  }\n  const contourSource: PibblPhysicsVector2[] = Math.abs(sweep) >= FULL_TURN_RADIANS\n    ? points.slice(0, -1).map(asReadonlyVector)\n    : [asReadonlyVector(center), ...points.map(asReadonlyVector)];\n  const contour = canonicalizeContour2D(contourSource, {\n    strictlyConvex: false,\n    path: 'wedge.contour',\n  });\n  const triangles = triangulateContour2D(contour);\n  const leaves = triangles.map<PolygonLeaf2D>((vertices, canonicalLeafIndex) =>\n    Object.freeze({ kind: 'polygon', vertices, canonicalLeafIndex }),\n  );\n  const mass = aggregateLeafMass(leaves);\n  return createShapeFromLeaves(\n    leaves,\n    mass.area,\n    mass.centroidX,\n    mass.centroidY,\n    mass.unitInertia,\n  );\n}\n\n/**\n * Creates an immutable segment collision shape without initializing a physics world.\n *\n * @param input - Segment endpoints. See {@link PibblPhysicsVector2}.\n * @returns An immutable line-segment collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function segmentShape2D(\n  input: Readonly<{ start: PibblPhysicsVector2; end: PibblPhysicsVector2 }>,\n): PibblPhysicsShape2D {\n  const start = ownedVector(input.start, 'segment.start');\n  const end = ownedVector(input.end, 'segment.end');\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'segment', start, end, canonicalLeafIndex: 0 })],\n    0,\n    (start[0]! + end[0]!) / 2,\n    (start[1]! + end[1]!) / 2,\n    0,\n  );\n}\n\n/**\n * Creates an immutable chain collision shape without initializing a physics world.\n *\n * @param input - Ordered chain points, closure policy, and optional radius. See\n * {@link PibblPhysicsVector2} .\n * @returns An immutable chain collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function chainShape2D(\n  input: Readonly<{\n    points: readonly PibblPhysicsVector2[];\n    closed?: boolean;\n    radius?: number;\n  }>,\n): PibblPhysicsShape2D {\n  if (input.points.length < 2) {\n    throw new RangeError('chain.points must contain at least two points.');\n  }\n  const points = input.points.map((point, index) =>\n    ownedVector(point, `chain.points[${index}]`),\n  );\n  const radius = requireNonnegativeNumber(input.radius ?? 0, 'chain.radius');\n  return chainFromOwnedPoints(points, input.closed === true, radius);\n}\n\n/**\n * Creates an immutable polygon collision shape without initializing a physics world.\n *\n * @param input - Ordered polygon vertices. See {@link PibblPhysicsVector2}.\n * @returns An immutable polygon collision shape. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsVector2}\n * @see {@link PibblPhysicsShape2D}\n */\nexport function polygonShape2D(\n  input: Readonly<{ points: readonly PibblPhysicsVector2[] }>,\n): PibblPhysicsShape2D {\n  const vertices = canonicalizeContour2D(input.points, {\n    strictlyConvex: true,\n    path: 'polygon.points',\n  });\n  const mass = polygonMassData2D(vertices);\n  return createShapeFromLeaves(\n    [Object.freeze({ kind: 'polygon', vertices, canonicalLeafIndex: 0 })],\n    mass.area,\n    mass.centroidX,\n    mass.centroidY,\n    mass.unitInertia,\n  );\n}\n\n/**\n * Computes axis-aligned bounds for an immutable shape at an optional pose.\n *\n * @param shape - Shape whose bounds are needed. See {@link PibblPhysicsShape2D}.\n * @param pose - Optional pose at which to evaluate the shape. See {@link PibblPhysicsPose2D}.\n * @returns Axis-aligned bounds of the posed shape. See {@link PibblPhysicsAabb2D}.\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsPose2D}\n * @see {@link PibblPhysicsAabb2D}\n */\nexport function boundsOfShape2D(\n  shape: PibblPhysicsShape2D,\n  pose?: PibblPhysicsPose2D,\n): PibblPhysicsAabb2D {\n  const record = requireShapeRecord2D(shape);\n  const outerPose = copyPose2D(pose, 'pose');\n  return boundsForLeaves(record.leaves, composePose2D(outerPose, record.localPose));\n}\n\n/**\n * Computes shape area, centroid, mass, and rotational inertia at the requested density.\n *\n * @param shape - Shape whose mass properties are needed. See {@link PibblPhysicsShape2D}.\n * @param options - Optional material density.\n * @returns Mass, center of mass, and inertia for the shape. See {@link PibblPhysicsMassProperties2D}\n * .\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsMassProperties2D}\n */\nexport function massProperties2D(\n  shape: PibblPhysicsShape2D,\n  options?: Readonly<{ density?: number }>,\n): PibblPhysicsMassProperties2D {\n  const record = requireShapeRecord2D(shape);\n  const density = requirePositiveNumber(options?.density ?? 1, 'options.density');\n  const transformedCentroid = new Float64Array(2);\n  transformPointInto(\n    transformedCentroid,\n    0,\n    record.centroidX,\n    record.centroidY,\n    record.localPose,\n  );\n  return Object.freeze({\n    area: cleanZero(record.area),\n    centroid: Object.freeze([\n      cleanZero(transformedCentroid[0]!),\n      cleanZero(transformedCentroid[1]!),\n    ] as const),\n    mass: cleanZero(record.area * density),\n    rotationalInertia: cleanZero(record.unitInertia * density),\n  });\n}\n\n/**\n * Returns independent shape geometry transformed by a rigid 2D pose.\n *\n * @param shape - Source shape; it is not modified. See {@link PibblPhysicsShape2D}.\n * @param transform - Transform to apply to the shape. See {@link PibblPhysicsTransform2D}.\n * @returns A shape containing the transformed geometry. See {@link PibblPhysicsShape2D}.\n *\n * @see {@link PibblPhysicsShape2D}\n * @see {@link PibblPhysicsTransform2D}\n */\nexport function transformShape2D(\n  shape: PibblPhysicsShape2D,\n  transform: PibblPhysicsTransform2D,\n): PibblPhysicsShape2D {\n  const source = requireShapeRecord2D(shape);\n  const localPose = composePose2D(copyPose2D(transform, 'transform'), source.localPose);\n  const localBounds = mutableBoundsForLeaves(source.leaves, localPose);\n  return createShape2D({\n    leaves: source.leaves,\n    localPose,\n    localBounds,\n    area: source.area,\n    centroidX: source.centroidX,\n    centroidY: source.centroidY,\n    unitInertia: source.unitInertia,\n  });\n}\n\nfunction createShapeFromLeaves(\n  leaves: readonly ConvexLeaf2D[],\n  area: number,\n  centroidX: number,\n  centroidY: number,\n  unitInertia: number,\n): PibblPhysicsShape2D {\n  return createShape2D({\n    leaves,\n    localBounds: mutableBoundsForLeaves(leaves, IDENTITY_POSE_2D),\n    area,\n    centroidX,\n    centroidY,\n    unitInertia: Math.max(0, unitInertia),\n  });\n}\n\nfunction chainFromOwnedPoints(\n  points: readonly Float64Array[],\n  closed: boolean,\n  radius: number,\n): PibblPhysicsShape2D {\n  const segmentCount = points.length === 1 ? 0 : points.length - 1 + (closed ? 1 : 0);\n  const leaves: ConvexLeaf2D[] = [];\n  for (let index = 0; index < segmentCount; index += 1) {\n    const start = points[index]!;\n    const end = points[(index + 1) % points.length]!;\n    leaves.push(Object.freeze(radius === 0\n      ? { kind: 'segment', start, end, canonicalLeafIndex: index }\n      : { kind: 'capsule', start, end, radius, canonicalLeafIndex: index }));\n  }\n  if (leaves.length === 0) {\n    const point = points[0]!;\n    const area = Math.PI * radius * radius;\n    leaves.push(Object.freeze({\n      kind: 'circle', center: point, radius, canonicalLeafIndex: 0,\n    }));\n    return createShapeFromLeaves(\n      leaves,\n      area,\n      point[0]!,\n      point[1]!,\n      area * radius * radius / 2,\n    );\n  }\n  if (radius > 0) {\n    const mass = aggregateLeafMass(leaves);\n    return createShapeFromLeaves(\n      leaves,\n      mass.area,\n      mass.centroidX,\n      mass.centroidY,\n      mass.unitInertia,\n    );\n  }\n  const centroid = lineCentroid(points, closed);\n  return createShapeFromLeaves(leaves, 0, centroid[0], centroid[1], 0);\n}\n\nfunction boundsForLeaves(\n  leaves: readonly ConvexLeaf2D[],\n  pose: InternalPose2D,\n): PibblPhysicsAabb2D {\n  const bounds = mutableBoundsForLeaves(leaves, pose);\n  return freezeBounds2D(bounds[0]!, bounds[1]!, bounds[2]!, bounds[3]!);\n}\n\nfunction mutableBoundsForLeaves(\n  leaves: readonly ConvexLeaf2D[],\n  pose: InternalPose2D,\n): Float64Array {\n  const result = new Float64Array([\n    Number.POSITIVE_INFINITY,\n    Number.POSITIVE_INFINITY,\n    Number.NEGATIVE_INFINITY,\n    Number.NEGATIVE_INFINITY,\n  ]);\n  const point = new Float64Array(2);\n  const include = (x: number, y: number, radius = 0): void => {\n    transformPointInto(point, 0, x, y, pose);\n    result[0] = Math.min(result[0]!, point[0]! - radius);\n    result[1] = Math.min(result[1]!, point[1]! - radius);\n    result[2] = Math.max(result[2]!, point[0]! + radius);\n    result[3] = Math.max(result[3]!, point[1]! + radius);\n  };\n  for (const leaf of leaves) {\n    switch (leaf.kind) {\n      case 'circle':\n        include(leaf.center[0]!, leaf.center[1]!, leaf.radius);\n        break;\n      case 'ellipse': {\n        transformPointInto(point, 0, leaf.center[0]!, leaf.center[1]!, pose);\n        const angle = pose.rotationRadians + leaf.rotationRadians;\n        const cosine = Math.cos(angle);\n        const sine = Math.sin(angle);\n        const extentX = Math.hypot(leaf.radiusX * cosine, leaf.radiusY * sine);\n        const extentY = Math.hypot(leaf.radiusX * sine, leaf.radiusY * cosine);\n        result[0] = Math.min(result[0]!, point[0]! - extentX);\n        result[1] = Math.min(result[1]!, point[1]! - extentY);\n        result[2] = Math.max(result[2]!, point[0]! + extentX);\n        result[3] = Math.max(result[3]!, point[1]! + extentY);\n        break;\n      }\n      case 'box':\n        includeBoxCorners(leaf.center, leaf.halfWidth, leaf.halfHeight, pose, result, point);\n        break;\n      case 'rounded-box':\n        includeRoundedBoxBounds(leaf, pose, result, point);\n        break;\n      case 'capsule':\n        include(leaf.start[0]!, leaf.start[1]!, leaf.radius);\n        include(leaf.end[0]!, leaf.end[1]!, leaf.radius);\n        break;\n      case 'segment':\n        include(leaf.start[0]!, leaf.start[1]!);\n        include(leaf.end[0]!, leaf.end[1]!);\n        break;\n      case 'polygon':\n        for (let offset = 0; offset < leaf.vertices.length; offset += 2) {\n          include(leaf.vertices[offset]!, leaf.vertices[offset + 1]!);\n        }\n        break;\n    }\n  }\n  return result;\n}\n\nfunction includeBoxCorners(\n  center: Float64Array,\n  halfWidth: number,\n  halfHeight: number,\n  pose: InternalPose2D,\n  bounds: Float64Array,\n  point: Float64Array,\n): void {\n  for (let xSign = -1; xSign <= 1; xSign += 2) {\n    for (let ySign = -1; ySign <= 1; ySign += 2) {\n      transformPointInto(\n        point,\n        0,\n        center[0]! + xSign * halfWidth,\n        center[1]! + ySign * halfHeight,\n        pose,\n      );\n      bounds[0] = Math.min(bounds[0]!, point[0]!);\n      bounds[1] = Math.min(bounds[1]!, point[1]!);\n      bounds[2] = Math.max(bounds[2]!, point[0]!);\n      bounds[3] = Math.max(bounds[3]!, point[1]!);\n    }\n  }\n}\n\nfunction includeRoundedBoxBounds(\n  leaf: Extract<ConvexLeaf2D, { kind: 'rounded-box' }>,\n  pose: InternalPose2D,\n  bounds: Float64Array,\n  point: Float64Array,\n): void {\n  const xSigns = [-1, 1, 1, -1] as const;\n  const ySigns = [-1, -1, 1, 1] as const;\n  for (let index = 0; index < 4; index += 1) {\n    const radius = leaf.radii[index]!;\n    transformPointInto(\n      point,\n      0,\n      leaf.center[0]! + xSigns[index]! * (leaf.halfWidth - radius),\n      leaf.center[1]! + ySigns[index]! * (leaf.halfHeight - radius),\n      pose,\n    );\n    bounds[0] = Math.min(bounds[0]!, point[0]! - radius);\n    bounds[1] = Math.min(bounds[1]!, point[1]! - radius);\n    bounds[2] = Math.max(bounds[2]!, point[0]! + radius);\n    bounds[3] = Math.max(bounds[3]!, point[1]! + radius);\n  }\n}\n\nfunction aggregateLeafMass(leaves: readonly ConvexLeaf2D[]): Readonly<{\n  area: number;\n  centroidX: number;\n  centroidY: number;\n  unitInertia: number;\n}> {\n  const entries = leaves.map(leafMassData);\n  const area = entries.reduce((sum, entry) => sum + entry.area, 0);\n  if (area === 0) {\n    return Object.freeze({ area: 0, centroidX: 0, centroidY: 0, unitInertia: 0 });\n  }\n  const centroidX = entries.reduce((sum, entry) => sum + entry.area * entry.centroidX, 0) / area;\n  const centroidY = entries.reduce((sum, entry) => sum + entry.area * entry.centroidY, 0) / area;\n  const unitInertia = entries.reduce((sum, entry) => {\n    const dx = entry.centroidX - centroidX;\n    const dy = entry.centroidY - centroidY;\n    return sum + entry.unitInertia + entry.area * (dx * dx + dy * dy);\n  }, 0);\n  return Object.freeze({ area, centroidX, centroidY, unitInertia });\n}\n\nfunction leafMassData(leaf: ConvexLeaf2D): Readonly<{\n  area: number;\n  centroidX: number;\n  centroidY: number;\n  unitInertia: number;\n}> {\n  switch (leaf.kind) {\n    case 'circle': {\n      const area = Math.PI * leaf.radius * leaf.radius;\n      return { area, centroidX: leaf.center[0]!, centroidY: leaf.center[1]!, unitInertia: area * leaf.radius * leaf.radius / 2 };\n    }\n    case 'ellipse': {\n      const area = Math.PI * leaf.radiusX * leaf.radiusY;\n      return { area, centroidX: leaf.center[0]!, centroidY: leaf.center[1]!, unitInertia: area * (leaf.radiusX * leaf.radiusX + leaf.radiusY * leaf.radiusY) / 4 };\n    }\n    case 'box': {\n      const width = leaf.halfWidth * 2;\n      const height = leaf.halfHeight * 2;\n      const area = width * height;\n      return { area, centroidX: leaf.center[0]!, centroidY: leaf.center[1]!, unitInertia: area * (width * width + height * height) / 12 };\n    }\n    case 'capsule':\n      return capsuleMassData(leaf.start, leaf.end, leaf.radius);\n    case 'polygon':\n      return polygonMassData2D(leaf.vertices);\n    case 'segment':\n      return { area: 0, centroidX: (leaf.start[0]! + leaf.end[0]!) / 2, centroidY: (leaf.start[1]! + leaf.end[1]!) / 2, unitInertia: 0 };\n    case 'rounded-box': {\n      const contour = roundedBoxContour(leaf.halfWidth, leaf.halfHeight, leaf.radii, leaf.center);\n      return polygonMassData2D(contour);\n    }\n  }\n}\n\nfunction capsuleMassData(\n  start: Float64Array,\n  end: Float64Array,\n  radius: number,\n): Readonly<{ area: number; centroidX: number; centroidY: number; unitInertia: number }> {\n  const dx = end[0]! - start[0]!;\n  const dy = end[1]! - start[1]!;\n  const length = Math.hypot(dx, dy);\n  const rectangleArea = 2 * radius * length;\n  const circleArea = Math.PI * radius * radius;\n  const area = rectangleArea + circleArea;\n  const rectangleInertia = rectangleArea * (length * length + 4 * radius * radius) / 12;\n  const capsInertia =\n    Math.PI * radius ** 4 / 2 +\n    circleArea * length * length / 4 +\n    4 * length * radius ** 3 / 3;\n  return Object.freeze({\n    area,\n    centroidX: (start[0]! + end[0]!) / 2,\n    centroidY: (start[1]! + end[1]!) / 2,\n    unitInertia: rectangleInertia + capsInertia,\n  });\n}\n\nfunction lineCentroid(\n  points: readonly Float64Array[],\n  closed: boolean,\n): readonly [number, number] {\n  const segmentCount = points.length - 1 + (closed ? 1 : 0);\n  let totalLength = 0;\n  let weightedX = 0;\n  let weightedY = 0;\n  for (let index = 0; index < segmentCount; index += 1) {\n    const start = points[index]!;\n    const end = points[(index + 1) % points.length]!;\n    const length = Math.hypot(end[0]! - start[0]!, end[1]! - start[1]!);\n    totalLength += length;\n    weightedX += length * (start[0]! + end[0]!) / 2;\n    weightedY += length * (start[1]! + end[1]!) / 2;\n  }\n  if (totalLength > 0) {\n    return [weightedX / totalLength, weightedY / totalLength];\n  }\n  return [points.reduce((sum, point) => sum + point[0]!, 0) / points.length, points.reduce((sum, point) => sum + point[1]!, 0) / points.length];\n}\n\nfunction roundedBoxContour(\n  halfWidth: number,\n  halfHeight: number,\n  radii: Float64Array,\n  center: Float64Array,\n): Float64Array {\n  const points: Float64Array[] = [];\n  for (let corner = 0; corner < 4; corner++) {\n    const radius = radii[(corner + 1) % 4]!;\n    const x = corner < 2 ? halfWidth - radius : -halfWidth + radius;\n    const y = corner === 0 || corner === 3 ? -halfHeight + radius : halfHeight - radius;\n    const start = (corner - 1) * Math.PI / 2;\n    const end = corner * Math.PI / 2;\n    const cornerPoints = radius === 0\n      ? 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   "names": []
 }

package/dist/features/physics/lib/2d/types.d.ts

@@ -1,7 +1,7 @@
 import type { collider2D, dynamicBody2D, kinematicBody2D, staticBody2D } from "./runtime/descriptors.js";
 import type { PhysicsWorld2D, pibblPhysicsWorld2D } from "./runtime/world-component.js";
 import type { Capsule2D, Chain2D, PhysicsShape2D, Segment2D } from "./canvas/components.js";
-import type { overlapShape2D, queryAabb2D, raycast2D, shapeCast2D } from "../../2d.js";
+import type { findShapeOverlap2D, findAabbMatch2D, raycastClosest2D, shapeCastClosest2D } from "../../2d.js";
 import type { BoxStyle, PibblEventHandlers, PibblEventParticipationOptions, PibblNodeInput, CursorStyle, LayoutBox, LayoutItemStyle, PaintStyle, Signal, SignalValue, SystemStyle } from "@pibbl/core";
 import type { PibblPhysicsAabb2D, PibblPhysicsContactPoint2D, PibblPhysicsShape2D, PibblPhysicsShapeHit2D, PibblPhysicsVector2 } from "../../2d-geometry.js";
 /**
@@ -523,8 +523,8 @@ declare const worldHandle2DBrand: unique symbol;
  *
  * @see {@link Signal}
  * @see {@link pibblPhysicsWorld2D}
- * @see {@link raycast2D}
- * @see {@link shapeCast2D}
+ * @see {@link raycastClosest2D}
+ * @see {@link shapeCastClosest2D}
  */
 export interface PibblPhysicsWorldHandle2D {
     readonly [worldHandle2DBrand]: true;
@@ -532,27 +532,13 @@ export interface PibblPhysicsWorldHandle2D {
     readonly revision: Signal<number>;
 }
 /**
- * Whether a query returns its closest match, any-match boolean, or all matches.
+ * Sensor policy, collision filtering, and body/collider exclusions for world queries.
  *
- * @see {@link PibblPhysicsQueryOptions2D}
- * @see {@link PibblPhysicsQueryResult2D}
- * @see {@link raycast2D}
- */
-export type PibblPhysicsQueryMode = "closest" | "any" | "all";
-/**
- * Result mode, sensor policy, collision filtering, and body/collider exclusions for world queries.
- *
- * @see {@link PibblPhysicsQueryMode}
  * @see {@link PibblPhysicsCollisionFilter}
  * @see {@link PibblPhysicsBodyHandle2D}
  * @see {@link PibblPhysicsColliderHandle2D}
  */
-export interface PibblPhysicsQueryOptions2D<Mode extends PibblPhysicsQueryMode = "closest"> {
-    /**
-     * Selects the supported mapping, placement, or result policy. See
-     * {@link PibblPhysicsQueryOptions2D}.
-     */
-    readonly mode?: Mode;
+export interface PibblPhysicsQueryOptions2D {
     /**
      * Selects `"include"` , `"exclude"` , `"only"` for sensors. See {@link PibblPhysicsQueryOptions2D}
      * .
@@ -574,7 +560,7 @@ export interface PibblPhysicsQueryOptions2D<Mode extends PibblPhysicsQueryMode =
  * @see {@link PibblPhysicsShapeHit2D}
  * @see {@link PibblPhysicsBodyHandle2D}
  * @see {@link PibblPhysicsColliderHandle2D}
- * @see {@link raycast2D}
+ * @see {@link raycastClosest2D}
  */
 export interface PibblPhysicsQueryHit2D extends PibblPhysicsShapeHit2D {
     /** Body identity associated with this event or result. See {@link PibblPhysicsBodyHandle2D}. */
@@ -599,8 +585,8 @@ export interface PibblPhysicsQueryHit2D extends PibblPhysicsShapeHit2D {
  *
  * @see {@link PibblPhysicsBodyHandle2D}
  * @see {@link PibblPhysicsColliderHandle2D}
- * @see {@link overlapShape2D}
- * @see {@link queryAabb2D}
+ * @see {@link findShapeOverlap2D}
+ * @see {@link findAabbMatch2D}
  */
 export interface PibblPhysicsQueryMatch2D {
     /** Body identity associated with this event or result. See {@link PibblPhysicsBodyHandle2D}. */
@@ -620,14 +606,6 @@ export interface PibblPhysicsQueryMatch2D {
      */
     readonly tag: unknown;
 }
-/**
- * Selects a boolean, readonly result list, or nullable closest result from the query mode.
- *
- * @see {@link PibblPhysicsQueryMode}
- * @see {@link raycast2D}
- * @see {@link shapeCast2D}
- */
-export type PibblPhysicsQueryResult2D<Mode extends PibblPhysicsQueryMode, Result> = Mode extends "any" ? boolean : Mode extends "all" ? readonly Result[] : Result | null;
 /**
  * Bodies, colliders, contact geometry, impulse, tags, and tick for a collision event.
  *

package/dist/features/physics/lib/2d/world/queries.d.ts

@@ -1,5 +1,6 @@
+import type { QueryMode, QueryOptions, QueryResult } from '../query-types.js';
 import { type PibblPhysicsAabb2D, type PibblPhysicsPose2D, type PibblPhysicsRay2D, type PibblPhysicsShape2D, type PibblPhysicsVector2 } from "../../../2d-geometry.js";
-import type { PibblPhysicsBodyHandle2D, PibblPhysicsColliderHandle2D, PibblPhysicsQueryHit2D, PibblPhysicsQueryMatch2D, PibblPhysicsQueryMode, PibblPhysicsQueryOptions2D, PibblPhysicsQueryResult2D } from "../types.js";
+import type { PibblPhysicsBodyHandle2D, PibblPhysicsColliderHandle2D, PibblPhysicsQueryHit2D, PibblPhysicsQueryMatch2D } from "../types.js";
 import type { DynamicAabbBroadPhase2D } from "./broad-phase.js";
 import type { BodyStore2D, ColliderStore2D } from "./storage.js";
 interface HandleIdentity2D {
@@ -34,11 +35,11 @@ export declare class CommittedWorldQueries2D {
     private readonly shapeShells;
     constructor(options: CommittedWorldQueriesOptions2D);
     invalidate(): void;
-    raycast<Mode extends PibblPhysicsQueryMode = "closest">(worldGeneration: number, ray: PibblPhysicsRay2D, queryOptions?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D>;
-    shapeCast<Mode extends PibblPhysicsQueryMode = "closest">(worldGeneration: number, shape: PibblPhysicsShape2D, from: PibblPhysicsPose2D, translation: PibblPhysicsVector2, queryOptions?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D>;
-    overlapShape<Mode extends PibblPhysicsQueryMode = "closest">(worldGeneration: number, shape: PibblPhysicsShape2D, pose: PibblPhysicsPose2D, queryOptions?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;
-    queryAabb<Mode extends PibblPhysicsQueryMode = "closest">(worldGeneration: number, bounds: PibblPhysicsAabb2D, queryOptions?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;
-    queryPoint<Mode extends PibblPhysicsQueryMode = "closest">(worldGeneration: number, point: PibblPhysicsVector2, queryOptions?: PibblPhysicsQueryOptions2D<Mode>): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;
+    raycast<Mode extends QueryMode = "closest">(worldGeneration: number, ray: PibblPhysicsRay2D, queryOptions?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryHit2D>;
+    shapeCast<Mode extends QueryMode = "closest">(worldGeneration: number, shape: PibblPhysicsShape2D, from: PibblPhysicsPose2D, translation: PibblPhysicsVector2, queryOptions?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryHit2D>;
+    overlapShape<Mode extends QueryMode = "closest">(worldGeneration: number, shape: PibblPhysicsShape2D, pose: PibblPhysicsPose2D, queryOptions?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryMatch2D>;
+    queryAabb<Mode extends QueryMode = "closest">(worldGeneration: number, bounds: PibblPhysicsAabb2D, queryOptions?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryMatch2D>;
+    queryPoint<Mode extends QueryMode = "closest">(worldGeneration: number, point: PibblPhysicsVector2, queryOptions?: QueryOptions<Mode>): QueryResult<Mode, PibblPhysicsQueryMatch2D>;
     private runMatchQuery;
     private prepareOptions;
     private isUsable;

package/dist/features/physics/lib/2d/world/queries.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../../../../../src/features/physics/lib/2d/world/queries.ts"],
-  "sourcesContent": ["import {\n  boundsOfShape2D,\n  type PibblPhysicsAabb2D,\n  type PibblPhysicsPose2D,\n  type PibblPhysicsRay2D,\n  type PibblPhysicsShape2D,\n  type PibblPhysicsVector2,\n} from \"../../../2d-geometry.js\";\nimport { copyFiniteVector2, requireNonnegativeNumber } from \"../../shared/validation.js\";\nimport { containsPointInShape2D, overlapPreparedShapes2D } from \"../collision/pairs.js\";\nimport { raycastShape2D, shapeCastAgainstShape2D } from \"../collision/casts.js\";\nimport { RADIANS_TO_DEGREES } from \"../numeric-policy.js\";\nimport { createShape2D, type ShapeRecord2D } from \"../shape-records.js\";\nimport type {\n  PibblPhysicsBodyHandle2D,\n  PibblPhysicsColliderHandle2D,\n  PibblPhysicsCollisionFilter,\n  PibblPhysicsQueryHit2D,\n  PibblPhysicsQueryMatch2D,\n  PibblPhysicsQueryMode,\n  PibblPhysicsQueryOptions2D,\n  PibblPhysicsQueryResult2D,\n} from \"../types.js\";\nimport type { DynamicAabbBroadPhase2D } from \"./broad-phase.js\";\nimport { collisionFiltersAllow2D } from \"./ccd.js\";\nimport { COLLIDER_SENSOR_2D } from \"./contact-cache.js\";\nimport type { BodyStore2D, ColliderStore2D } from \"./storage.js\";\n\ninterface HandleIdentity2D {\n  readonly index: number;\n  readonly generation: number;\n}\n\nexport interface CommittedWorldQueriesOptions2D {\n  readonly generation: number;\n  readonly bodies: BodyStore2D;\n  readonly colliders: ColliderStore2D;\n  readonly broadPhase: DynamicAabbBroadPhase2D;\n  readonly materializeBody: (index: number, generation: number) => PibblPhysicsBodyHandle2D;\n  readonly materializeCollider: (index: number, generation: number) => PibblPhysicsColliderHandle2D;\n  readonly resolveBody: (handle: PibblPhysicsBodyHandle2D) => HandleIdentity2D | null;\n  readonly resolveCollider: (handle: PibblPhysicsColliderHandle2D) => HandleIdentity2D | null;\n}\n\ninterface PreparedQueryOptions2D {\n  readonly mode: PibblPhysicsQueryMode;\n  readonly sensors: \"include\" | \"exclude\" | \"only\";\n  readonly collisionFilter: PibblPhysicsCollisionFilter | null;\n  readonly excludeBody: HandleIdentity2D | null;\n  readonly excludeCollider: HandleIdentity2D | null;\n  readonly valid: boolean;\n}\n\nexport class CommittedWorldQueries2D {\n  private active = true;\n  private candidateProxies: Int32Array;\n  private hitColliderIndices: Int32Array;\n  private hitColliderGenerations: Uint32Array;\n  private hitBodyIndices: Int32Array;\n  private hitBodyGenerations: Uint32Array;\n  private hitPointX: Float64Array;\n  private hitPointY: Float64Array;\n  private hitNormalX: Float64Array;\n  private hitNormalY: Float64Array;\n  private hitDistances: Float64Array;\n  private hitTimes: Float64Array;\n  private hitCount = 0;\n  private readonly shapeShells = new WeakMap<ShapeRecord2D, PibblPhysicsShape2D>();\n\n  constructor(private readonly options: CommittedWorldQueriesOptions2D) {\n    const capacity = normalizedCapacity(options.broadPhase.proxyCapacity);\n    this.candidateProxies = new Int32Array(capacity);\n    this.hitColliderIndices = new Int32Array(capacity);\n    this.hitColliderGenerations = new Uint32Array(capacity);\n    this.hitBodyIndices = new Int32Array(capacity);\n    this.hitBodyGenerations = new Uint32Array(capacity);\n    this.hitPointX = new Float64Array(capacity);\n    this.hitPointY = new Float64Array(capacity);\n    this.hitNormalX = new Float64Array(capacity);\n    this.hitNormalY = new Float64Array(capacity);\n    this.hitDistances = new Float64Array(capacity);\n    this.hitTimes = new Float64Array(capacity);\n  }\n\n  invalidate(): void {\n    this.active = false;\n    this.hitCount = 0;\n  }\n\n  raycast<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    worldGeneration: number,\n    ray: PibblPhysicsRay2D,\n    queryOptions?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D> {\n    const prepared = this.prepareOptions(queryOptions);\n    if (!this.isUsable(worldGeneration, prepared)) return emptyResult(prepared.mode);\n    const origin = copyFiniteVector2(ray.origin, \"ray.origin\");\n    const direction = copyFiniteVector2(ray.direction, \"ray.direction\");\n    const directionLength = Math.hypot(direction[0], direction[1]);\n    if (directionLength === 0) throw new RangeError(\"ray.direction must be non-zero.\");\n    const maxDistance = requireNonnegativeNumber(ray.maxDistance, \"ray.maxDistance\");\n    const endX = origin[0] + (direction[0] / directionLength) * maxDistance;\n    const endY = origin[1] + (direction[1] / directionLength) * maxDistance;\n    this.beginQuery();\n    const candidateCount = this.queryCandidates(\n      Math.min(origin[0], endX),\n      Math.min(origin[1], endY),\n      Math.max(origin[0], endX),\n      Math.max(origin[1], endY),\n    );\n    for (let candidate = 0; candidate < candidateCount; candidate += 1) {\n      const collider = this.semanticColliderAt(candidate, prepared);\n      if (collider === null) continue;\n      const hit = raycastShape2D(collider.shape, collider.pose, ray);\n      if (hit === null) continue;\n      if (prepared.mode === \"any\") return true as PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D>;\n      this.appendHit(collider, hit.point, hit.normal, hit.distance, hit.timeOfImpact);\n    }\n    return this.finishHits<Mode>(prepared.mode);\n  }\n\n  shapeCast<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    worldGeneration: number,\n    shape: PibblPhysicsShape2D,\n    from: PibblPhysicsPose2D,\n    translation: PibblPhysicsVector2,\n    queryOptions?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D> {\n    const prepared = this.prepareOptions(queryOptions);\n    if (!this.isUsable(worldGeneration, prepared)) return emptyResult(prepared.mode);\n    const copiedTranslation = copyFiniteVector2(translation, \"translation\");\n    const start = boundsOfShape2D(shape, from);\n    const end = boundsOfShape2D(shape, {\n      position: [from.position[0] + copiedTranslation[0], from.position[1] + copiedTranslation[1]],\n      rotationDegrees: from.rotationDegrees,\n    });\n    this.beginQuery();\n    const candidateCount = this.queryCandidates(\n      Math.min(start.min[0], end.min[0]),\n      Math.min(start.min[1], end.min[1]),\n      Math.max(start.max[0], end.max[0]),\n      Math.max(start.max[1], end.max[1]),\n    );\n    for (let candidate = 0; candidate < candidateCount; candidate += 1) {\n      const collider = this.semanticColliderAt(candidate, prepared);\n      if (collider === null) continue;\n      const hit = shapeCastAgainstShape2D(shape, from, copiedTranslation, collider.shape, collider.pose);\n      if (hit === null) continue;\n      if (prepared.mode === \"any\") return true as PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D>;\n      this.appendHit(collider, hit.point, hit.normal, hit.distance, hit.timeOfImpact);\n    }\n    return this.finishHits<Mode>(prepared.mode);\n  }\n\n  overlapShape<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    worldGeneration: number,\n    shape: PibblPhysicsShape2D,\n    pose: PibblPhysicsPose2D,\n    queryOptions?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D> {\n    const bounds = this.isGenerationLive(worldGeneration) ? boundsOfShape2D(shape, pose) : null;\n    return this.runMatchQuery(worldGeneration, bounds, queryOptions, (collider) =>\n      overlapPreparedShapes2D(shape, pose, collider.shape, collider.pose),\n    );\n  }\n\n  queryAabb<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    worldGeneration: number,\n    bounds: PibblPhysicsAabb2D,\n    queryOptions?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D> {\n    if (!this.isGenerationLive(worldGeneration)) {\n      return emptyResult(modeOf(queryOptions));\n    }\n    const copied = copyAabb(bounds);\n    return this.runMatchQuery(worldGeneration, copied, queryOptions, (collider) => {\n      const colliderBounds = boundsOfShape2D(collider.shape, collider.pose);\n      return aabbsOverlap(copied, colliderBounds);\n    });\n  }\n\n  queryPoint<Mode extends PibblPhysicsQueryMode = \"closest\">(\n    worldGeneration: number,\n    point: PibblPhysicsVector2,\n    queryOptions?: PibblPhysicsQueryOptions2D<Mode>,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D> {\n    if (!this.isGenerationLive(worldGeneration)) {\n      return emptyResult(modeOf(queryOptions));\n    }\n    const copied = copyFiniteVector2(point, \"point\");\n    const bounds = Object.freeze({ min: copied, max: copied });\n    return this.runMatchQuery(worldGeneration, bounds, queryOptions, (collider) =>\n      containsPointInShape2D(collider.shape, collider.pose, copied),\n    );\n  }\n\n  private runMatchQuery<Mode extends PibblPhysicsQueryMode>(\n    worldGeneration: number,\n    bounds: PibblPhysicsAabb2D | null,\n    queryOptions: PibblPhysicsQueryOptions2D<Mode> | undefined,\n    matches: (collider: SemanticCollider2D) => boolean,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D> {\n    const prepared = this.prepareOptions(queryOptions);\n    if (bounds === null || !this.isUsable(worldGeneration, prepared)) {\n      return emptyResult(prepared.mode);\n    }\n    this.beginQuery();\n    const candidateCount = this.queryCandidates(bounds.min[0], bounds.min[1], bounds.max[0], bounds.max[1]);\n    for (let candidate = 0; candidate < candidateCount; candidate += 1) {\n      const collider = this.semanticColliderAt(candidate, prepared);\n      if (collider === null || !matches(collider)) continue;\n      if (prepared.mode === \"any\") {\n        return true as PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;\n      }\n      this.appendMatch(collider);\n    }\n    return this.finishMatches<Mode>(prepared.mode);\n  }\n\n  private prepareOptions<Mode extends PibblPhysicsQueryMode>(\n    queryOptions: PibblPhysicsQueryOptions2D<Mode> | undefined,\n  ): PreparedQueryOptions2D {\n    const mode = modeOf(queryOptions);\n    const sensors = queryOptions?.sensors ?? \"include\";\n    if (sensors !== \"include\" && sensors !== \"exclude\" && sensors !== \"only\") {\n      throw new RangeError(\"query sensors must be include, exclude, or only.\");\n    }\n    const excludeBody =\n      queryOptions?.excludeBody === undefined ? null : this.options.resolveBody(queryOptions.excludeBody);\n    const excludeCollider =\n      queryOptions?.excludeCollider === undefined ? null : this.options.resolveCollider(queryOptions.excludeCollider);\n    const validBody =\n      queryOptions?.excludeBody === undefined ||\n      (excludeBody !== null && this.options.bodies.has(excludeBody.index, excludeBody.generation));\n    const validCollider =\n      queryOptions?.excludeCollider === undefined ||\n      (excludeCollider !== null && this.options.colliders.has(excludeCollider.index, excludeCollider.generation));\n    return {\n      mode,\n      sensors,\n      collisionFilter: queryOptions?.collisionFilter ?? null,\n      excludeBody,\n      excludeCollider,\n      valid: validBody && validCollider,\n    };\n  }\n\n  private isUsable(worldGeneration: number, prepared: PreparedQueryOptions2D): boolean {\n    return this.isGenerationLive(worldGeneration) && prepared.valid;\n  }\n\n  private isGenerationLive(worldGeneration: number): boolean {\n    return this.active && worldGeneration === this.options.generation;\n  }\n\n  private beginQuery(): void {\n    this.hitCount = 0;\n    this.ensureCapacity(this.options.broadPhase.proxyCapacity);\n  }\n\n  private queryCandidates(minX: number, minY: number, maxX: number, maxY: number): number {\n    return this.options.broadPhase.queryAabbInto(\n      minX,\n      minY,\n      maxX,\n      maxY,\n      this.candidateProxies,\n      0,\n      this.candidateProxies.length,\n    );\n  }\n\n  private semanticColliderAt(candidate: number, prepared: PreparedQueryOptions2D): SemanticCollider2D | null {\n    const proxy = this.candidateProxies[candidate]!;\n    const colliderIndex = this.options.broadPhase.proxyColliderIndices[proxy]!;\n    const colliderGeneration = this.options.broadPhase.proxyColliderGenerations[proxy]!;\n    const { colliders, bodies } = this.options;\n    if (!colliders.has(colliderIndex, colliderGeneration)) return null;\n    const bodyIndex = colliders.bodyIndices[colliderIndex]!;\n    const bodyGeneration = colliders.bodyGenerations[colliderIndex]!;\n    if (!bodies.has(bodyIndex, bodyGeneration)) return null;\n    if (sameIdentity(prepared.excludeBody, bodyIndex, bodyGeneration)) return null;\n    if (sameIdentity(prepared.excludeCollider, colliderIndex, colliderGeneration)) return null;\n    const sensor = (colliders.flags[colliderIndex]! & COLLIDER_SENSOR_2D) !== 0;\n    if (prepared.sensors === \"exclude\" && sensor) return null;\n    if (prepared.sensors === \"only\" && !sensor) return null;\n    if (\n      prepared.collisionFilter !== null &&\n      !collisionFiltersAllow2D(prepared.collisionFilter, colliders.filters[colliderIndex])\n    )\n      return null;\n    const record = colliders.shapes[colliderIndex];\n    if (record === null) return null;\n    return {\n      colliderIndex,\n      colliderGeneration,\n      bodyIndex,\n      bodyGeneration,\n      shape: this.shapeShell(record),\n      pose: publicBodyOriginPose(bodies, bodyIndex),\n    };\n  }\n\n  private appendHit(\n    collider: SemanticCollider2D,\n    point: PibblPhysicsVector2,\n    normal: PibblPhysicsVector2,\n    distance: number,\n    time: number,\n  ): void {\n    const target = this.hitCount;\n    this.writeIdentity(target, collider);\n    this.hitPointX[target] = point[0];\n    this.hitPointY[target] = point[1];\n    this.hitNormalX[target] = normal[0];\n    this.hitNormalY[target] = normal[1];\n    this.hitDistances[target] = distance;\n    this.hitTimes[target] = time;\n    this.hitCount += 1;\n  }\n\n  private appendMatch(collider: SemanticCollider2D): void {\n    this.writeIdentity(this.hitCount, collider);\n    this.hitCount += 1;\n  }\n\n  private writeIdentity(target: number, collider: SemanticCollider2D): void {\n    this.hitColliderIndices[target] = collider.colliderIndex;\n    this.hitColliderGenerations[target] = collider.colliderGeneration;\n    this.hitBodyIndices[target] = collider.bodyIndex;\n    this.hitBodyGenerations[target] = collider.bodyGeneration;\n  }\n\n  private finishHits<Mode extends PibblPhysicsQueryMode>(\n    mode: PibblPhysicsQueryMode,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D> {\n    this.sortHits(true);\n    if (mode === \"any\") {\n      return false as PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D>;\n    }\n    if (mode === \"closest\") {\n      return (this.hitCount === 0 ? null : this.materializeHit(0)) as PibblPhysicsQueryResult2D<\n        Mode,\n        PibblPhysicsQueryHit2D\n      >;\n    }\n    const results: PibblPhysicsQueryHit2D[] = [];\n    for (let index = 0; index < this.hitCount; index += 1) {\n      results.push(this.materializeHit(index));\n    }\n    return Object.freeze(results) as PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryHit2D>;\n  }\n\n  private finishMatches<Mode extends PibblPhysicsQueryMode>(\n    mode: PibblPhysicsQueryMode,\n  ): PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D> {\n    this.sortHits(false);\n    if (mode === \"any\") {\n      return false as PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;\n    }\n    if (mode === \"closest\") {\n      return (this.hitCount === 0 ? null : this.materializeMatch(0)) as PibblPhysicsQueryResult2D<\n        Mode,\n        PibblPhysicsQueryMatch2D\n      >;\n    }\n    const results: PibblPhysicsQueryMatch2D[] = [];\n    for (let index = 0; index < this.hitCount; index += 1) {\n      results.push(this.materializeMatch(index));\n    }\n    return Object.freeze(results) as PibblPhysicsQueryResult2D<Mode, PibblPhysicsQueryMatch2D>;\n  }\n\n  private materializeHit(index: number): PibblPhysicsQueryHit2D {\n    return Object.freeze({\n      ...this.materializeMatch(index),\n      point: freezeVector(this.hitPointX[index]!, this.hitPointY[index]!),\n      normal: freezeVector(this.hitNormalX[index]!, this.hitNormalY[index]!),\n      distance: this.hitDistances[index]!,\n      timeOfImpact: this.hitTimes[index]!,\n    });\n  }\n\n  private materializeMatch(index: number): PibblPhysicsQueryMatch2D {\n    const bodyIndex = this.hitBodyIndices[index]!;\n    const bodyGeneration = this.hitBodyGenerations[index]!;\n    const colliderIndex = this.hitColliderIndices[index]!;\n    const colliderGeneration = this.hitColliderGenerations[index]!;\n    return Object.freeze({\n      body: this.options.materializeBody(bodyIndex, bodyGeneration),\n      collider: this.options.materializeCollider(colliderIndex, colliderGeneration),\n      bodyGeneration,\n      colliderGeneration,\n      tag: this.options.colliders.tags[colliderIndex],\n    });\n  }\n\n  private sortHits(withDistance: boolean): void {\n    for (let index = 1; index < this.hitCount; index += 1) {\n      let current = index;\n      while (current > 0 && this.compareHits(current, current - 1, withDistance) < 0) {\n        this.swapHits(current, current - 1, withDistance);\n        current -= 1;\n      }\n    }\n  }\n\n  private compareHits(first: number, second: number, withDistance: boolean): number {\n    if (withDistance) {\n      const time = this.hitTimes[first]! - this.hitTimes[second]!;\n      if (time !== 0) return time;\n      const distance = this.hitDistances[first]! - this.hitDistances[second]!;\n      if (distance !== 0) return distance;\n    }\n    return (\n      this.hitColliderIndices[first]! - this.hitColliderIndices[second]! ||\n      this.hitColliderGenerations[first]! - this.hitColliderGenerations[second]!\n    );\n  }\n\n  private swapHits(first: number, second: number, withDistance: boolean): void {\n    swapInt32(this.hitColliderIndices, first, second);\n    swapUint32(this.hitColliderGenerations, first, second);\n    swapInt32(this.hitBodyIndices, first, second);\n    swapUint32(this.hitBodyGenerations, first, second);\n    if (!withDistance) return;\n    swapFloat64(this.hitPointX, first, second);\n    swapFloat64(this.hitPointY, first, second);\n    swapFloat64(this.hitNormalX, first, second);\n    swapFloat64(this.hitNormalY, first, second);\n    swapFloat64(this.hitDistances, first, second);\n    swapFloat64(this.hitTimes, first, second);\n  }\n\n  private shapeShell(record: ShapeRecord2D): PibblPhysicsShape2D {\n    let shell = this.shapeShells.get(record);\n    if (shell === undefined) {\n      shell = createShape2D(record);\n      this.shapeShells.set(record, shell);\n    }\n    return shell;\n  }\n\n  private ensureCapacity(required: number): void {\n    if (required <= this.candidateProxies.length) return;\n    const capacity = normalizedCapacity(required);\n    this.candidateProxies = growInt32(this.candidateProxies, capacity);\n    this.hitColliderIndices = growInt32(this.hitColliderIndices, capacity);\n    this.hitColliderGenerations = growUint32(this.hitColliderGenerations, capacity);\n    this.hitBodyIndices = growInt32(this.hitBodyIndices, capacity);\n    this.hitBodyGenerations = growUint32(this.hitBodyGenerations, capacity);\n    this.hitPointX = growFloat64(this.hitPointX, capacity);\n    this.hitPointY = growFloat64(this.hitPointY, capacity);\n    this.hitNormalX = growFloat64(this.hitNormalX, capacity);\n    this.hitNormalY = growFloat64(this.hitNormalY, capacity);\n    this.hitDistances = growFloat64(this.hitDistances, capacity);\n    this.hitTimes = growFloat64(this.hitTimes, capacity);\n  }\n}\n\ninterface SemanticCollider2D {\n  readonly colliderIndex: number;\n  readonly colliderGeneration: number;\n  readonly bodyIndex: number;\n  readonly bodyGeneration: number;\n  readonly shape: PibblPhysicsShape2D;\n  readonly pose: PibblPhysicsPose2D;\n}\n\nfunction modeOf<Mode extends PibblPhysicsQueryMode>(\n  options: PibblPhysicsQueryOptions2D<Mode> | undefined,\n): PibblPhysicsQueryMode {\n  const mode = options?.mode ?? \"closest\";\n  if (mode !== \"closest\" && mode !== \"any\" && mode !== \"all\") {\n    throw new RangeError(\"query mode must be closest, any, or all.\");\n  }\n  return mode;\n}\n\nfunction emptyResult<Mode extends PibblPhysicsQueryMode, Result>(\n  mode: PibblPhysicsQueryMode,\n): PibblPhysicsQueryResult2D<Mode, Result> {\n  return (mode === \"any\" ? false : mode === \"all\" ? 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+  "sourcesContent": ["import type { QueryMode, QueryOptions, QueryResult } from '../query-types.js';\nimport {\n  boundsOfShape2D,\n  type PibblPhysicsAabb2D,\n  type PibblPhysicsPose2D,\n  type PibblPhysicsRay2D,\n  type PibblPhysicsShape2D,\n  type PibblPhysicsVector2,\n} from \"../../../2d-geometry.js\";\nimport { copyFiniteVector2, requireNonnegativeNumber } from \"../../shared/validation.js\";\nimport { containsPointInShape2D, overlapPreparedShapes2D } from \"../collision/pairs.js\";\nimport { raycastShape2D, shapeCastAgainstShape2D } from \"../collision/casts.js\";\nimport { RADIANS_TO_DEGREES } from \"../numeric-policy.js\";\nimport { createShape2D, type ShapeRecord2D } from \"../shape-records.js\";\nimport type {\n  PibblPhysicsBodyHandle2D,\n  PibblPhysicsColliderHandle2D,\n  PibblPhysicsCollisionFilter,\n  PibblPhysicsQueryHit2D,\n  PibblPhysicsQueryMatch2D,\n} from \"../types.js\";\nimport type { DynamicAabbBroadPhase2D } from \"./broad-phase.js\";\nimport { collisionFiltersAllow2D } from \"./ccd.js\";\nimport { COLLIDER_SENSOR_2D } from \"./contact-cache.js\";\nimport type { BodyStore2D, ColliderStore2D } from \"./storage.js\";\n\ninterface HandleIdentity2D {\n  readonly index: number;\n  readonly generation: number;\n}\n\nexport interface CommittedWorldQueriesOptions2D {\n  readonly generation: number;\n  readonly bodies: BodyStore2D;\n  readonly colliders: ColliderStore2D;\n  readonly broadPhase: DynamicAabbBroadPhase2D;\n  readonly materializeBody: (index: number, generation: number) => PibblPhysicsBodyHandle2D;\n  readonly materializeCollider: (index: number, generation: number) => PibblPhysicsColliderHandle2D;\n  readonly resolveBody: (handle: PibblPhysicsBodyHandle2D) => HandleIdentity2D | null;\n  readonly resolveCollider: (handle: PibblPhysicsColliderHandle2D) => HandleIdentity2D | null;\n}\n\ninterface PreparedQueryOptions2D {\n  readonly mode: QueryMode;\n  readonly sensors: \"include\" | \"exclude\" | \"only\";\n  readonly collisionFilter: PibblPhysicsCollisionFilter | null;\n  readonly excludeBody: HandleIdentity2D | null;\n  readonly excludeCollider: HandleIdentity2D | null;\n  readonly valid: boolean;\n}\n\nexport class CommittedWorldQueries2D {\n  private active = true;\n  private candidateProxies: Int32Array;\n  private hitColliderIndices: Int32Array;\n  private hitColliderGenerations: Uint32Array;\n  private hitBodyIndices: Int32Array;\n  private hitBodyGenerations: Uint32Array;\n  private hitPointX: Float64Array;\n  private hitPointY: Float64Array;\n  private hitNormalX: Float64Array;\n  private hitNormalY: Float64Array;\n  private hitDistances: Float64Array;\n  private hitTimes: Float64Array;\n  private hitCount = 0;\n  private readonly shapeShells = new WeakMap<ShapeRecord2D, PibblPhysicsShape2D>();\n\n  constructor(private readonly options: CommittedWorldQueriesOptions2D) {\n    const capacity = normalizedCapacity(options.broadPhase.proxyCapacity);\n    this.candidateProxies = new Int32Array(capacity);\n    this.hitColliderIndices = new Int32Array(capacity);\n    this.hitColliderGenerations = new Uint32Array(capacity);\n    this.hitBodyIndices = new Int32Array(capacity);\n    this.hitBodyGenerations = new Uint32Array(capacity);\n    this.hitPointX = new Float64Array(capacity);\n    this.hitPointY = new Float64Array(capacity);\n    this.hitNormalX = new Float64Array(capacity);\n    this.hitNormalY = new Float64Array(capacity);\n    this.hitDistances = new Float64Array(capacity);\n    this.hitTimes = new Float64Array(capacity);\n  }\n\n  invalidate(): void {\n    this.active = false;\n    this.hitCount = 0;\n  }\n\n  raycast<Mode extends QueryMode = \"closest\">(\n    worldGeneration: number,\n    ray: PibblPhysicsRay2D,\n    queryOptions?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryHit2D> {\n    const prepared = this.prepareOptions(queryOptions);\n    if (!this.isUsable(worldGeneration, prepared)) return emptyResult(prepared.mode);\n    const origin = copyFiniteVector2(ray.origin, \"ray.origin\");\n    const direction = copyFiniteVector2(ray.direction, \"ray.direction\");\n    const directionLength = Math.hypot(direction[0], direction[1]);\n    if (directionLength === 0) throw new RangeError(\"ray.direction must be non-zero.\");\n    const maxDistance = requireNonnegativeNumber(ray.maxDistance, \"ray.maxDistance\");\n    const endX = origin[0] + (direction[0] / directionLength) * maxDistance;\n    const endY = origin[1] + (direction[1] / directionLength) * maxDistance;\n    this.beginQuery();\n    const candidateCount = this.queryCandidates(\n      Math.min(origin[0], endX),\n      Math.min(origin[1], endY),\n      Math.max(origin[0], endX),\n      Math.max(origin[1], endY),\n    );\n    for (let candidate = 0; candidate < candidateCount; candidate += 1) {\n      const collider = this.semanticColliderAt(candidate, prepared);\n      if (collider === null) continue;\n      const hit = raycastShape2D(collider.shape, collider.pose, ray);\n      if (hit === null) continue;\n      if (prepared.mode === \"any\") return true as QueryResult<Mode, PibblPhysicsQueryHit2D>;\n      this.appendHit(collider, hit.point, hit.normal, hit.distance, hit.timeOfImpact);\n    }\n    return this.finishHits<Mode>(prepared.mode);\n  }\n\n  shapeCast<Mode extends QueryMode = \"closest\">(\n    worldGeneration: number,\n    shape: PibblPhysicsShape2D,\n    from: PibblPhysicsPose2D,\n    translation: PibblPhysicsVector2,\n    queryOptions?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryHit2D> {\n    const prepared = this.prepareOptions(queryOptions);\n    if (!this.isUsable(worldGeneration, prepared)) return emptyResult(prepared.mode);\n    const copiedTranslation = copyFiniteVector2(translation, \"translation\");\n    const start = boundsOfShape2D(shape, from);\n    const end = boundsOfShape2D(shape, {\n      position: [from.position[0] + copiedTranslation[0], from.position[1] + copiedTranslation[1]],\n      rotationDegrees: from.rotationDegrees,\n    });\n    this.beginQuery();\n    const candidateCount = this.queryCandidates(\n      Math.min(start.min[0], end.min[0]),\n      Math.min(start.min[1], end.min[1]),\n      Math.max(start.max[0], end.max[0]),\n      Math.max(start.max[1], end.max[1]),\n    );\n    for (let candidate = 0; candidate < candidateCount; candidate += 1) {\n      const collider = this.semanticColliderAt(candidate, prepared);\n      if (collider === null) continue;\n      const hit = shapeCastAgainstShape2D(shape, from, copiedTranslation, collider.shape, collider.pose);\n      if (hit === null) continue;\n      if (prepared.mode === \"any\") return true as QueryResult<Mode, PibblPhysicsQueryHit2D>;\n      this.appendHit(collider, hit.point, hit.normal, hit.distance, hit.timeOfImpact);\n    }\n    return this.finishHits<Mode>(prepared.mode);\n  }\n\n  overlapShape<Mode extends QueryMode = \"closest\">(\n    worldGeneration: number,\n    shape: PibblPhysicsShape2D,\n    pose: PibblPhysicsPose2D,\n    queryOptions?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryMatch2D> {\n    const bounds = this.isGenerationLive(worldGeneration) ? boundsOfShape2D(shape, pose) : null;\n    return this.runMatchQuery(worldGeneration, bounds, queryOptions, (collider) =>\n      overlapPreparedShapes2D(shape, pose, collider.shape, collider.pose),\n    );\n  }\n\n  queryAabb<Mode extends QueryMode = \"closest\">(\n    worldGeneration: number,\n    bounds: PibblPhysicsAabb2D,\n    queryOptions?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryMatch2D> {\n    if (!this.isGenerationLive(worldGeneration)) {\n      return emptyResult(modeOf(queryOptions));\n    }\n    const copied = copyAabb(bounds);\n    return this.runMatchQuery(worldGeneration, copied, queryOptions, (collider) => {\n      const colliderBounds = boundsOfShape2D(collider.shape, collider.pose);\n      return aabbsOverlap(copied, colliderBounds);\n    });\n  }\n\n  queryPoint<Mode extends QueryMode = \"closest\">(\n    worldGeneration: number,\n    point: PibblPhysicsVector2,\n    queryOptions?: QueryOptions<Mode>,\n  ): QueryResult<Mode, PibblPhysicsQueryMatch2D> {\n    if (!this.isGenerationLive(worldGeneration)) {\n      return emptyResult(modeOf(queryOptions));\n    }\n    const copied = copyFiniteVector2(point, \"point\");\n    const bounds = Object.freeze({ min: copied, max: copied });\n    return this.runMatchQuery(worldGeneration, bounds, queryOptions, (collider) =>\n      containsPointInShape2D(collider.shape, collider.pose, copied),\n    );\n  }\n\n  private runMatchQuery<Mode extends QueryMode>(\n    worldGeneration: number,\n    bounds: PibblPhysicsAabb2D | null,\n    queryOptions: QueryOptions<Mode> | undefined,\n    matches: (collider: SemanticCollider2D) => boolean,\n  ): QueryResult<Mode, PibblPhysicsQueryMatch2D> {\n    const prepared = this.prepareOptions(queryOptions);\n    if (bounds === null || !this.isUsable(worldGeneration, prepared)) {\n      return emptyResult(prepared.mode);\n    }\n    this.beginQuery();\n    const candidateCount = this.queryCandidates(bounds.min[0], bounds.min[1], bounds.max[0], bounds.max[1]);\n    for (let candidate = 0; candidate < candidateCount; candidate += 1) {\n      const collider = this.semanticColliderAt(candidate, prepared);\n      if (collider === null || !matches(collider)) continue;\n      if (prepared.mode === \"any\") {\n        return true as QueryResult<Mode, PibblPhysicsQueryMatch2D>;\n      }\n      this.appendMatch(collider);\n    }\n    return this.finishMatches<Mode>(prepared.mode);\n  }\n\n  private prepareOptions<Mode extends QueryMode>(\n    queryOptions: QueryOptions<Mode> | undefined,\n  ): PreparedQueryOptions2D {\n    const mode = modeOf(queryOptions);\n    const sensors = queryOptions?.sensors ?? \"include\";\n    if (sensors !== \"include\" && sensors !== \"exclude\" && sensors !== \"only\") {\n      throw new RangeError(\"query sensors must be include, exclude, or 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   "names": []
 }

package/dist/features/physics/lib/2d/world/rapier.js

@@ -137,15 +137,12 @@ class RapierSimulation2D {
       const body = this.world.getRigidBody(binding.handle);
       const position = body.translation();
       const velocity = body.linvel();
-      for (const value of [
-        position.x,
-        position.y,
-        velocity.x,
-        velocity.y,
-        body.rotation(),
-        body.angvel()
-      ])
-        validateEngineNumber(value);
+      validateEngineNumber(position.x);
+      validateEngineNumber(position.y);
+      validateEngineNumber(velocity.x);
+      validateEngineNumber(velocity.y);
+      validateEngineNumber(body.rotation());
+      validateEngineNumber(body.angvel());
       const target = kinematicTargets.get(index);
       bodies.positionX[index] = target?.x ?? logicalValue(position.x, bodies.positionX[index]);
       bodies.positionY[index] = target?.y ?? logicalValue(position.y, bodies.positionY[index]);
@@ -326,21 +323,18 @@ class RapierSimulation2D {
       const generation = bodies.generations[index];
       if (!bodies.has(index, generation)) continue;
       const flags = bodies.flags[index];
-      for (const value of [
-        bodies.positionX[index] / SCALE,
-        bodies.positionY[index] / SCALE,
-        bodies.linearVelocityX[index] / SCALE,
-        bodies.linearVelocityY[index] / SCALE,
-        bodies.rotationRadians[index],
-        bodies.angularVelocity[index],
-        bodies.forceX[index] / SCALE,
-        bodies.forceY[index] / SCALE,
-        bodies.torque[index] / (SCALE * SCALE),
-        bodies.gravityScale[index],
-        bodies.linearDamping[index],
-        bodies.angularDamping[index]
-      ])
-        validateEngineNumber(value);
+      validateEngineNumber(bodies.positionX[index] / SCALE);
+      validateEngineNumber(bodies.positionY[index] / SCALE);
+      validateEngineNumber(bodies.linearVelocityX[index] / SCALE);
+      validateEngineNumber(bodies.linearVelocityY[index] / SCALE);
+      validateEngineNumber(bodies.rotationRadians[index]);
+      validateEngineNumber(bodies.angularVelocity[index]);
+      validateEngineNumber(bodies.forceX[index] / SCALE);
+      validateEngineNumber(bodies.forceY[index] / SCALE);
+      validateEngineNumber(bodies.torque[index] / (SCALE * SCALE));
+      validateEngineNumber(bodies.gravityScale[index]);
+      validateEngineNumber(bodies.linearDamping[index]);
+      validateEngineNumber(bodies.angularDamping[index]);
       if (bodies.inverseMass[index] > 0)
         validateEngineNumber(1 / bodies.inverseMass[index]);
       if (bodies.inverseInertia[index] > 0)
@@ -533,8 +527,10 @@ function leafDescriptor(leaf, shape, centerX, centerY) {
     else if (typeof value === "number")
       validateEngineNumber(key === "rotationRadians" ? value : value / SCALE);
   }
-  for (const value of [shape.localPose.x, shape.localPose.y, centerX, centerY])
-    validateEngineNumber(value / SCALE);
+  validateEngineNumber(shape.localPose.x / SCALE);
+  validateEngineNumber(shape.localPose.y / SCALE);
+  validateEngineNumber(centerX / SCALE);
+  validateEngineNumber(centerY / SCALE);
   let desc;
   let x = 0, y = 0, angle = 0;
   if (leaf.kind === "circle") {